OKMC Apr12 * SG169 * Dive index * Mission links * Dive 265 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 54.01 of 147.52 AH used of 24V (63.39% remains)
• Previous NAKs 0, Timeouts 0 • 33.48 of 108.53 AH used of 10V (69.15% remains)
• Surface angle -74.2 deg, depth 0.80 m • Intended pitch -13.8 deg, speed -8.684 cm/s
• No surface pump (final VBD was 510.47, SM_CC=450)
• GPS1 time: 37 s
• GPS2 time: 15 s • Transponder ping count: 0
• Time spent turning 0 s

Statistics * Plot
t(s) depth(m) w(cm/s) num pts t(s) GC phase pitch roll VBD pit rol VBD volts
ctl(cm) t(s) A pos(AD) rate t(s) A pos(AD) rate ctl(cc) t(s) A pos(AD) rate eff r e r e r e pitrollvbd flags
14 end surface: CONTROL_FINISHED_OK
14 begin dive
17 - - - 99 VBD -0.58 - - 116 - - - 2474 - -194.6 -79.78 - 3042 - - - - - - - - - - -
102 3.8 -9.9 14 129 roll -0.58 8.07 0.226 2092 244.9 2.60 0.035 969 -578.8 -194.6 -12.98 - 3775 -56.5 - - - - - - - 24.99 26.06 26.46
258 53.0 -13.9 43 265 done -0.57 - - 2080 - 2.58 0.031 2467 580.6 -194.6 - - 3778 - - - - - - - - - 26.07 -
449 95.0 -20.4 80 457 roll -0.50 0.12 0.165 2129 408.3 2.47 0.022 983 -600.8 -194.6 - - 3778 - - - - - - - - 26.06 26.21 -
481 99.6 -13.5 85 489 done -0.47 - - 2118 - 2.45 0.031 2418 585.7 -194.6 - - 3778 - - - - - - - - - 26.17 -
673 121.2 -9.5 122 680 roll -0.46 - - 2108 - 2.15 0.043 3832 657.7 -194.6 - - 3778 - - - - - - - - - 26.15 -
714 125.0 -9.3 129 722 done -0.47 - - 2108 - 2.10 0.018 2371 -695.7 -194.6 - - 3779 - - - - - - - - - 26.41 -
907 147.2 -12.2 166 914 roll -0.45 - - 2108 - 2.25 0.024 975 -620.4 -194.6 - - 3779 - - - - - - - - - 26.32 -
957 152.2 -8.9 175 964 done -0.47 - - 2099 - 2.45 0.029 2424 591.4 -194.6 - - 3778 - - - - - - - - - 26.28 -
1149 174.0 -10.3 212 1156 roll -0.45 - - 2099 - 2.38 0.023 983 -605.5 -194.6 - - 3779 - - - - - - - - - 26.34 -
1206 178.7 -7.7 222 1213 done -0.47 - - 2098 - 2.35 0.031 2395 600.9 -194.6 - - 3778 - - - - - - - - - 26.29 -
1396 195.8 -9.1 259 1403 roll -0.46 - - 2088 - 2.20 0.041 3836 655.0 -194.6 - - 3778 - - - - - - - - - 26.24 -
1453 200.8 -8.2 269 1461 done -0.47 0.12 0.117 2128 333.3 2.22 0.018 2314 -685.6 -194.6 - - 3778 - - - - - - - - 26.22 26.46 -
1768 221.1 -6.2 330 1775 roll -0.49 - - 2118 - 2.42 0.040 3825 624.4 -194.6 - - 3778 - - - - - - - - - 26.25 -
1794 222.9 -6.6 334 1801 done -0.51 - - 2118 - 2.20 0.018 2319 -684.5 -194.6 - - 3778 - - - - - - - - - 26.48 -
2106 247.1 -8.7 395 2112 roll -0.52 - - 2109 - 2.40 0.039 3825 627.5 -194.6 - - 3776 - - - - - - - - - 26.26 -
2127 248.8 -8.4 398 2134 done -0.52 - - 2108 - 2.17 0.018 2331 -688.5 -194.6 - - 3776 - - - - - - - - - 26.48 -
2438 276.1 -8.0 459 2445 roll -0.52 - - 2098 - 2.40 0.040 3837 627.5 -194.6 - - 3773 - - - - - - - - - 26.25 -
2469 278.7 -8.6 464 2476 done -0.53 - - 2098 - 2.15 0.018 2348 -692.6 -194.6 - - 3773 - - - - - - - - - 26.50 -
2781 305.5 -8.2 525 2789 roll -0.53 - - 2088 - 2.38 0.041 3832 623.5 -194.6 - - 3771 - - - - - - - - - 26.25 -
2806 307.9 -8.9 529 2814 done -0.53 - - 2088 - 2.12 0.018 2365 -692.0 -194.6 - - 3771 - - - - - - - - - 26.48 -
3119 338.0 -10.2 590 3125 done -0.52 - - 2088 - - - 2364 - -194.6 - - 3769 - - - - - - - - - - -
3430 368.2 -9.8 651 3436 roll -0.52 - - 2078 - 2.35 0.040 3825 621.7 -194.6 - - 3766 - - - - - - - - - 26.24 -
3463 371.5 -9.7 657 3472 done -0.52 0.10 0.124 2110 320.0 2.12 0.019 2360 -691.0 -194.6 - - 3766 - - - - - - - - 26.28 26.48 -
3780 393.6 -6.4 718 3787 roll -0.53 - - 2099 - 2.38 0.050 3833 618.9 -194.6 -0.08 - 3790 -300.0 - - - - - - - - 26.23 25.49
3816 396.0 -6.6 724 3823 done -0.55 - - 2100 - 2.10 0.018 2371 -696.2 -194.6 - - 3790 - - - - - - - - - 26.50 -
4130 419.5 -8.2 785 4137 roll -0.56 - - 2092 - 2.35 0.041 3835 623.0 -194.6 - - 3788 - - - - - - - - - 26.22 -
4165 422.4 -8.2 791 4172 done -0.58 - - 2092 - 2.08 0.018 2389 -695.2 -194.6 - - 3788 - - - - - - - - - 26.49 -
4478 448.5 -8.5 852 4484 done -0.58 - - 2092 - - - 2389 - -194.6 - - 3786 - - - - - - - - - - -
4790 472.8 -7.5 913 4798 roll -0.58 - - 2092 - 2.30 0.026 983 -611.3 -194.6 - - 3783 - - - - - - - - - 26.32 -
4826 475.6 -7.5 919 4832 done -0.61 - - 2089 - 2.53 0.033 2461 584.2 -194.6 - - 3783 - - - - - - - - - 26.26 -
5137 502.7 -8.8 977 5146 roll -0.61 - - 2079 - 2.10 0.045 3828 651.0 -194.6 - - 3781 - - - - - - - - - 26.17 -
5162 504.7 -8.9 979 5169 done -0.61 - - 2079 - 2.12 0.020 2389 -678.8 -194.6 - - 3781 - - - - - - - - - 26.46 -
5470 531.0 -8.0 1010 5471 done -0.61 - - 2078 - - - 2390 - -194.6 - - 3780 - - - - - - - - - - -
5772 554.6 -8.0 1040 5781 roll -0.61 - - 2069 - 2.30 0.043 3821 622.2 -194.6 - - 3777 - - - - - - - - - 26.16 -
5804 557.4 -7.8 1043 5813 done -0.61 - - 2069 - 2.08 0.021 2399 -683.7 -194.6 - - 3777 - - - - - - - - - 26.45 -
6117 585.7 -9.5 1074 6126 roll -0.60 - - 2069 - 2.28 0.026 995 -615.8 -194.6 - - 3775 - - - - - - - - - 26.29 -
6141 588.1 -9.5 1076 6148 done -0.60 - - 2059 - 2.53 0.033 2471 583.4 -194.6 - - 3775 - - - - - - - - - 26.22 -
6449 620.2 -9.6 1107 6458 roll -0.58 - - 2049 - 2.08 0.044 3836 656.2 -194.6 - - 3772 - - - - - - - - - 26.14 -
6474 622.4 -9.9 1109 6483 done -0.57 0.15 0.113 2097 320.0 2.08 0.021 2404 -688.5 -194.6 - - 3772 - - - - - - - - 26.11 26.42 -
6781 644.0 -7.4 1140 6783 done -0.58 - - 2098 - - - 2404 - -194.6 - - 3771 - - - - - - - - - - -
7086 666.8 -7.3 1170 7094 roll -0.60 - - 2092 - 2.25 0.045 3819 628.9 -194.6 - - 3769 - - - - - - - - - 26.08 -
7120 669.2 -6.9 1173 7128 done -0.62 - - 2092 - 2.03 0.021 2410 -694.1 -194.6 - - 3769 - - - - - - - - - 26.44 -
7428 690.3 -7.1 1204 7437 roll -0.66 - - 2092 - 2.33 0.025 981 -613.3 -194.6 - - 3767 - - - - - - - - - 26.27 -
7480 694.0 -6.8 1209 7490 done -0.72 0.10 0.071 2045 -470.0 2.78 0.031 2570 571.6 -194.6 - - 3767 - - - - - - - - 26.07 26.22 -
7791 717.6 -7.8 1240 7800 roll -0.73 - - 2045 - 2.72 0.027 987 -582.0 -194.6 - - 3765 - - - - - - - - - 26.24 -
7855 723.0 -9.1 1246 7862 done -0.73 - - 2035 - 2.50 0.035 2449 584.8 -194.6 - - 3765 - - - - - - - - - 26.14 -
8163 758.2 -11.6 1277 8164 done -0.71 - - 2035 - - - 2447 - -194.6 - - 3764 - - - - - - - - - - -
8467 793.7 -11.9 1307 8476 roll -0.69 - - 2024 - 2.12 0.047 3829 651.9 -194.6 - - 3762 - - - - - - - - - 26.05 -
8489 796.8 -12.0 1309 8499 done -0.66 0.12 0.132 2066 350.0 2.12 0.022 2393 -677.4 -194.6 - - 3761 - - - - - - - - 26.06 26.36 -
8801 824.8 -8.5 1340 8807 done -0.66 - - 2066 - - - 2392 - -194.6 - - 3761 - - - - - - - - - - -
9111 851.4 -8.3 1371 9120 roll -0.66 - - 2055 - 2.33 0.046 3819 612.4 -194.6 - - 3759 - - - - - - - - - 25.99 -
9136 853.4 -8.4 1373 9143 done -0.66 - - 2055 - 2.10 0.021 2399 -676.2 -194.6 - - 3759 - - - - - - - - - 26.37 -
9444 879.6 -8.2 1404 9453 roll -0.65 - - 2055 - 2.30 0.027 983 -615.7 -194.6 - - 3758 - - - - - - - - - 26.20 -
9476 882.3 -8.1 1407 9487 done -0.65 - - 2046 - 2.47 0.034 2441 590.3 -194.6 - - 3758 - - - - - - - - - 26.08 -
9787 907.3 -7.7 1438 9796 roll -0.64 - - 2036 - 2.15 0.047 3828 645.1 -194.6 - - 3756 - - - - - - - - - 25.98 -
9822 910.0 -8.1 1441 9830 done -0.63 0.12 0.123 2075 325.0 2.12 0.021 2385 -680.7 -194.6 - - 3756 - - - - - - - - 26.06 26.35 -
10130 928.9 -6.4 1472 10139 roll -0.64 - - 2063 - 2.33 0.044 3822 616.7 -194.6 - - 3755 - - - - - - - - - 25.96 -
10154 930.4 -6.4 1474 10161 done -0.65 - - 2064 - 2.10 0.020 2393 -680.5 -194.6 - - 3755 - - - - - - - - - 26.37 -
10462 954.0 -7.8 1505 10471 roll -0.65 - - 2064 - 2.28 0.026 995 -613.2 -194.6 - - 3754 - - - - - - - - - 26.17 -
10495 956.4 -7.8 1508 10503 done -0.66 - - 2059 - 2.50 0.034 2453 583.2 -194.6 - - 3754 - - - - - - - - - 26.07 -
10804 982.1 -8.5 1539 10805 done -0.66 - - 2059 - - - 2452 - -194.6 - - 3753 - - - - - - - - - - -
10901 end dive: TARGET_DEPTH_EXCEEDED
10901 begin apogee
10907 990.8 -8.8 1549 11107 roll -0.20 0.43 0.091 2210 351.2 0.05 0.044 2511 1180.0 - 192.40 1.115 2973 -4.1 0.383 - - - - - - 25.86 24.51 23.51
11108 end apogee: CONTROL_FINISHED_OK
11108 begin climb
11110 999.6 - 1569 11328 roll 0.58 0.68 0.041 2484 402.9 2.62 0.028 1086 -543.9 194.6 208.88 1.075 2185 -3.8 0.373 - - - - - - 24.90 24.89 23.06
11346 972.8 16.7 1593 11355 done 0.53 0.10 0.155 2453 -310.0 2.85 0.036 2543 511.2 194.6 - - 2157 - - - - - - - - 24.36 24.58 -
11657 914.2 19.2 1624 11665 roll 0.47 - - 2466 - 2.60 0.028 1098 -555.8 194.6 - - 2148 - - - - - - - - - 25.89 -
11718 903.4 16.6 1630 11728 done 0.43 0.15 0.143 2417 -326.7 2.75 0.035 2595 544.4 194.6 - - 2146 - - - - - - - - 25.57 25.91 -
12029 859.5 14.2 1661 12032 roll 0.39 - - 2417 - 1.83 0.046 3829 674.3 194.6 - - 2145 - - - - - - - - - 26.00 -
12063 854.4 15.2 1664 12070 done 0.35 0.15 0.171 2387 -200.0 1.80 0.022 2533 -720.0 194.6 - - 2144 - - - - - - - - 25.72 26.17 -
12372 818.6 11.5 1695 12379 done 0.33 - - 2387 - - - 2533 - 194.6 - - 2144 - - - - - - - - - - -
12684 783.5 10.9 1726 12690 done 0.32 - - 2387 - - - 2532 - 194.6 - - 2143 - - - - - - - - - - -
12992 750.9 10.3 1757 13001 roll 0.30 - - 2400 - 2.55 0.031 1088 -566.3 194.6 - - 2142 - - - - - - - - - 26.14 -
13015 748.5 10.2 1759 13024 done 0.29 - - 2400 - 2.75 0.034 2602 550.5 194.6 - - 2141 - - - - - - - - - 26.12 -
13324 712.0 12.3 1790 13333 roll 0.27 0.12 0.156 2373 -225.0 2.70 0.028 1090 -560.0 194.6 - - 2141 - - - - - - - - 26.10 26.15 -
13350 709.5 12.0 1792 13357 done 0.26 - - 2373 - 2.72 0.034 2593 552.6 194.6 - - 2140 - - - - - - - - - 26.12 -
13656 681.2 8.6 1823 13660 roll 0.26 - - 2373 - 1.80 0.047 3835 690.0 197.4 - - 2140 - - - - - - - - - 26.06 -
13681 679.1 9.2 1825 13687 done 0.26 - - 2383 - 1.83 0.022 2527 -714.8 197.4 - - 2140 - - - - - - - - - 26.31 -
13989 648.3 10.8 1856 13997 roll 0.26 - - 2396 - 2.50 0.030 1095 -572.8 197.4 - - 2140 - - - - - - - - - 26.15 -
14040 642.8 10.0 1861 14050 done 0.26 0.08 0.106 2364 -400.0 2.67 0.034 2565 550.6 197.4 - - 2139 - - - - - - - - 25.92 26.13 -
14351 613.0 9.4 1892 14354 roll 0.27 - - 2364 - 1.83 0.045 3822 686.9 197.4 - - 2139 - - - - - - - - - 26.04 -
14382 609.7 10.0 1895 14386 done 0.27 - - 2374 - 1.83 0.021 2517 -713.1 197.4 - - 2139 - - - - - - - - - 26.33 -
14694 581.5 8.5 1926 14703 roll 0.28 - - 2387 - 2.47 0.028 1083 -580.6 204.6 - - 2139 - - - - - - - - - 26.15 -
14737 578.0 8.3 1930 14766 done 0.31 - - 2387 - 2.65 0.034 2544 551.3 218.3 23.67 0.863 2087 -2.2 0.156 - - - - - - - 26.11 24.59
15066 545.5 9.5 1963 15075 roll 0.31 - - 2387 - 1.90 0.045 3832 677.9 218.3 - - 2065 - - - - - - - - - 25.94 -
15088 543.1 10.2 1965 15097 done 0.31 - - 2397 - 1.90 0.021 2501 -700.5 218.3 - - 2065 - - - - - - - - - 26.17 -
15399 510.4 10.8 1996 15408 roll 0.30 - - 2410 - 2.47 0.031 1085 -573.3 218.3 - - 2064 - - - - - - - - - 26.08 -
15424 507.8 11.0 1998 15431 done 0.29 0.12 0.125 2372 -316.7 2.62 0.034 2534 553.1 218.3 - - 2064 - - - - - - - - 25.88 26.05 -
15734 480.4 8.1 2051 15766 roll 0.33 - - 2384 - 2.65 0.029 1070 -552.5 237.2 22.20 0.819 1999 -2.9 0.182 - - - - - - - 25.98 24.64
15795 476.0 7.3 2061 15856 done 0.41 - - 2384 - 2.65 0.032 2525 549.1 282.1 50.53 0.831 1817 -3.6 0.219 - - - - - - - 25.94 24.27
16164 450.2 7.4 2131 16220 roll 0.49 0.12 0.073 2486 850.0 2.67 0.032 1100 -533.7 326.4 46.22 0.830 1632 -4.0 0.231 - - - - - - 26.16 25.45 24.30
16244 438.4 16.5 2144 16252 done 0.47 0.20 0.131 2427 -295.0 2.62 0.034 2510 538.2 326.4 - - 1621 - - - - - - - - 25.32 25.56 -
16560 404.7 9.9 2205 16565 done 0.47 - - 2427 - - - 2508 - 326.4 - - 1616 - - - - - - - - - - -
16870 373.9 10.7 2266 16877 roll 0.47 - - 2440 - 2.55 0.031 1081 -559.6 326.4 - - 1616 - - - - - - - - - 26.03 -
16911 370.0 9.2 2273 16918 done 0.49 - - 2440 - 2.60 0.033 2510 549.6 326.4 - - 1613 - - - - - - - - - 26.03 -
17221 335.7 10.8 2334 17228 roll 0.49 - - 2453 - 2.53 0.030 1088 -562.1 326.4 - - 1613 - - - - - - - - - 26.09 -
17246 333.1 10.7 2338 17253 done 0.50 - - 2453 - 2.55 0.034 2493 551.0 326.4 - - 1613 - - - - - - - - - 26.06 -
17560 294.9 12.4 2399 17567 roll 0.49 - - 2453 - 1.98 0.044 3827 673.7 326.4 - - 1612 - - - - - - - - - 26.04 -
17580 291.9 13.4 2402 17588 done 0.47 0.12 0.158 2428 -208.3 1.98 0.021 2453 -693.9 326.4 - - 1612 - - - - - - - - 25.91 26.27 -
17897 262.7 7.8 2463 17930 roll 0.52 - - 2441 - 2.47 0.031 1079 -556.3 355.5 27.73 0.712 1521 -3.3 0.129 - - - - - - - 25.98 24.75
17964 257.0 8.0 2474 17991 done 0.58 - - 2441 - 2.53 0.032 2480 553.8 376.9 21.15 0.713 1442 -3.7 0.143 - - - - - - - 25.94 24.60
18296 228.6 8.5 2538 18303 roll 0.60 - - 2454 - 2.47 0.030 1097 -559.9 381.6 - - 1416 - - - - - - - - - 25.97 -
18326 226.0 8.9 2543 18335 done 0.63 - - 2454 - 2.47 0.031 2471 556.3 381.6 - - 1415 - - - - - - - - - 25.98 -
18643 193.6 8.6 2604 18650 roll 0.64 - - 2453 - 2.05 0.041 3839 667.3 383.8 - - 1415 - - - - - - - - - 26.02 -
18670 190.6 11.1 2608 18676 done 0.65 - - 2464 - 2.05 0.021 2420 -692.2 383.8 - - 1415 - - - - - - - - - 26.20 -
18861 171.7 9.3 2645 18867 roll 0.67 - - 2476 - 2.28 0.029 1093 -582.0 383.8 - - 1415 - - - - - - - - - 26.13 -
18902 168.1 8.9 2652 18909 done 0.69 - - 2476 - 2.45 0.030 2474 563.7 383.8 - - 1415 - - - - - - - - - 26.13 -
19093 147.7 11.1 2689 19100 roll 0.69 - - 2476 - 2.03 0.041 3825 665.5 383.8 - - 1415 - - - - - - - - - 26.08 -
19119 144.7 12.0 2693 19125 done 0.69 - - 2487 - 2.03 0.021 2419 -692.6 383.8 - - 1415 - - - - - - - - - 26.27 -
19310 122.1 12.7 2730 19317 roll 0.68 - - 2499 - 2.30 0.028 1075 -584.3 383.8 - - 1415 - - - - - - - - - 26.18 -
19356 116.9 10.8 2738 19363 done 0.70 - - 2499 - 2.42 0.030 2466 574.8 383.8 - - 1414 - - - - - - - - - 26.18 -
19547 93.9 10.7 2775 19555 roll 0.70 - - 2511 - 2.38 0.028 1093 -576.9 383.8 - - 1415 - - - - - - - - - 26.20 -
19594 90.1 7.2 2783 19656 done 0.77 - - 2512 - 2.30 0.030 2415 574.8 432.8 56.00 0.309 1216 -3.6 0.110 - - - - - - - 26.20 25.21
19842 69.5 8.0 2829 19873 done 0.81 - - 2511 - - - 2415 - 456.0 27.00 0.260 1121 -3.5 0.100 - - - - - - - - 25.16
20057 52.8 7.0 2870 20113 done 0.91 0.12 0.075 2607 800.0 - - 2415 - 512.2 50.75 0.224 889 -4.6 0.114 - - - - - - 26.32 - 25.24
20298 13.2 13.7 2915 20307 roll 0.90 0.12 0.145 2566 -341.7 2.22 0.038 3826 635.6 512.2 1.90 0.148 893 2.1 -0.020 - - - - - - 26.00 25.97 25.41
20341 8.5 9.4 2922 20349 done 0.92 - - 2577 - 2.17 0.021 2364 -673.7 512.2 1.75 0.165 888 -2.9 0.016 - - - - - - - 26.16 25.45
20409 end climb: SURFACE_DEPTH_REACHED
20410 begin surface coast
20453 end surface coast: CONTROL_FINISHED_OK
20453 begin surface
SM 0.52 - - - - -6.63 6.10 0.021 119 -403.0 0.25 0.047 2493 516.0 510.47 - - 898 - - - - - - - -